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/***************************************************************************************************
* TheaBoot *
* Copyright (C) 2018 YiQiChuang(ShanXi) Electronic Technology CO,LTD. *
* Copyright (c) 2012-2014 PX4 Development Team. *
* *
* This file is part of TheaBoot project. *
* *
* @file main_f1.c *
* @brief *
* @author Arthur Zheng *
* @email 15034186698@163.com *
* @version 0.2.0.0 *
* @date 2018/07/15 *
* *
*--------------------------------------------------------------------------------------------------*
* Remark : *
*--------------------------------------------------------------------------------------------------*
* Change History : *
* <Date> | <Version> | <Author> | <Description> *
*--------------------------------------------------------------------------------------------------*
* unknown | 0.1.0.0 | unknown | Create file *
* 2018/07/15 | 0.2.0.0 | Arthur Zheng | Restyle the structure of project *
* 2018/08/08 | 0.2.1.0 | Arthur Zheng | 优化flash擦除机制，跳过全空page以加速擦除过程 *
*--------------------------------------------------------------------------------------------------*
* Lisense : BSD 3-Clause *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR *
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND *
* FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR *
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR *
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY *
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR *
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE *
* POSSIBILITY OF SUCH DAMAGE. *
*--------------------------------------------------------------------------------------------------*
* *
***************************************************************************************************/
/* Includes --------------------------------------------------------------------------------------*/
#include "hw_config.h"
#include <stdlib.h>
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/f1/bkp.h>
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/flash.h>
#include <libopencm3/stm32/usart.h>
#include <libopencm3/cm3/systick.h>
#include "bl.h"
/* Defination ------------------------------------------------------------------------------------*/
#define UDID_START 0x1FFFF7E8 /* STM32全球唯一ID地址 */
#ifdef INTERFACE_USART
# define BOARD_INTERFACE_CONFIG (void *)BOARD_USART
#else
# define BOARD_INTERFACE_CONFIG NULL
#endif
#define BOARD_FLASH_SIZE (BOARD_FLASH_PAGES * BOARD_FLASH_PAGE_SIZE)
#define APP_SIZE_MAX (BOARD_FLASH_SIZE - BOOTLOADER_RESERVATION_SIZE)
#define BOOTLOADER_RESERVATION_SIZE (BOOTLOADER_PAGE * BOARD_FLASH_PAGE_SIZE)
#if INTERFACE_USART
# define BOARD_INTERFACE_CONFIG_USART (void *)BOARD_USART
#endif
#if INTERFACE_USB
# define BOARD_INTERFACE_CONFIG_USB NULL
#endif
/* Global variable ------------------------------------------------------------------------------*/
struct boardinfo board_info =
{
.id = DEVICE_ID,
.rev = DEVICE_REV,
.sn = DEVICE_SN,
.fw_size = APP_SIZE_MAX,
.flash_strc = DEVICE_FLASH_STRC,
.device_des = DEVICE_DES,
.systick_mhz = 48,
};
/**
* @brief 板载资源初始化
* @param none
* @return none
*/
static void board_init(void)
{
/* 初始化指示灯 */
rcc_peripheral_enable_clock(&BOARD_CLOCK_LED_ACTIVITY_REGISTER, BOARD_CLOCK_LED_ACTIVITY);
gpio_set_mode(BOARD_PORT_LED_ACTIVITY, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, BOARD_PIN_LED_ACTIVITY);
BOARD_LED_ON(BOARD_PORT_LED_ACTIVITY, BOARD_PIN_LED_ACTIVITY);
rcc_peripheral_enable_clock(&BOARD_CLOCK_LED_BOOTLOADER_REGISTER, BOARD_CLOCK_LED_BOOTLOADER);
gpio_set_mode(BOARD_PORT_LED_BOOTLOADER, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_PUSHPULL, BOARD_PIN_LED_BOOTLOADER);
BOARD_LED_ON(BOARD_PORT_LED_BOOTLOADER, BOARD_PIN_LED_BOOTLOADER);
/* 如果强制进入bootloader引脚被定义,初始化该引脚 */
#ifdef BOARD_FORCE_BL_PIN
rcc_peripheral_enable_clock(&BOARD_FORCE_BL_CLOCK_REGISTER, BOARD_FORCE_BL_CLOCK_BIT);
gpio_set_mode(BOARD_FORCE_BL_PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, BOARD_FORCE_BL_PIN);
#if(BOARD_FORCE_BL_STATE == 0)
gpio_set(BOARD_FORCE_BL_PORT, BOARD_FORCE_BL_PIN);
#else
gpio_clear(BOARD_FORCE_BL_PORT, BOARD_FORCE_BL_PIN);
#endif
#endif
/* 如果串口开启,初始化串口 */
#ifdef INTERFACE_USART
rcc_peripheral_enable_clock(&BOARD_USART_PIN_CLOCK_REGISTER, BOARD_USART_PIN_CLOCK_BIT);
gpio_set_mode(BOARD_PORT_USART, GPIO_MODE_OUTPUT_50_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, BOARD_PIN_TX); /* 此处只需开启tx即可，rx会自动配置 */
rcc_peripheral_enable_clock(&BOARD_USART_CLOCK_REGISTER, BOARD_USART_CLOCK_BIT);
#endif
}
/**
* @brief 板载资源反初始化
* @param none
* @return none
*/
void board_deinit(void)
{
gpio_set_mode(BOARD_PORT_LED_ACTIVITY, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, BOARD_PIN_LED_ACTIVITY);
gpio_set_mode(BOARD_PORT_LED_BOOTLOADER, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, BOARD_PIN_LED_BOOTLOADER);
#ifdef BOARD_FORCE_BL_PIN
gpio_set_mode(BOARD_FORCE_BL_PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, BOARD_FORCE_BL_PIN);
gpio_clear(BOARD_FORCE_BL_PORT, BOARD_FORCE_BL_PIN);
#endif
#ifdef INTERFACE_USART
gpio_set_mode(BOARD_PORT_USART, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, BOARD_PIN_TX);
rcc_peripheral_disable_clock(&BOARD_USART_CLOCK_REGISTER, BOARD_USART_CLOCK_BIT);
#endif
/* 复位APB2总线时钟 */
RCC_APB2ENR = 0x00000000;
}
/**
* @brief 时钟初始化
* @param none
* @return none
*/
static inline void clock_init(void)
{
rcc_clock_setup_in_hsi_out_48mhz();
}
/**
* @brief 强制升级引脚探测
* @param none
* @return true,被触发.false,非触发
*/
static bool board_test_force_pin(void)
{
#if defined(BOARD_FORCE_BL_PIN)
volatile unsigned samples = 0;
volatile unsigned vote = 0;
/* 对引脚进行200次采样，用以过滤杂波 */
for (samples = 0; samples < 200; samples++)
{
if (gpio_get(BOARD_FORCE_BL_PORT, BOARD_FORCE_BL_PIN) == BOARD_FORCE_BL_STATE)
{
vote++;
}
}
/* 如果采样触发在90%以上,视为有效 */
if ((vote * 100) > (samples * 90))
{
return true;
}
#endif
return false;
}
#if INTERFACE_USART
/**
* @brief 测试串口是否收到打断boot信号
* @param none
* @return true,被触发.false,非触发
*/
static bool board_test_usart_receiving_break(void)
{
/* 启动SysTick定时器 */
systick_interrupt_disable(); /* 关闭SysTick中断 */
systick_counter_disable(); /* 关闭SysTick */
systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
/**
* @note 设定定时器周期为波特率的一半
* 波特率 = 115200, 周期 = 8.68us
* 半周期 = 4.34us
* timer_period = timer_tick / timer_reset_frequency = 168MHz / (1/4.34us) = 729.12 ~= 729
*/
systick_set_reload(729); /* 4.3us 滴答周期 */
systick_counter_enable(); /* 启动定时器 */
uint8_t cnt_consecutive_low = 0;
uint8_t cnt = 0;
/**
* @note 检测3个字节的传输时长计算高低电平数，采样频率使得可以每个位采集两次
* 一个传输字节为10bits(8数据位 + 1起始位 + 1停止位)
* 我们每半个位时间采样一次,每个字节采样20次
* 所以3个字节时长共60个采样
*/
while (cnt < 60)
{
/* 仅在SysTick置位时读取引脚电平 */
if (systick_get_countflag() == 1)
{
if (gpio_get(BOARD_PORT_USART, BOARD_PIN_RX) == 0)
{
cnt_consecutive_low++; /* 增加计数器值 */
}
else
{
cnt_consecutive_low = 0; /* 归零计数器 */
}
cnt++;
}
/* 如果收到9个位的低电平则退出循环 */
if (cnt_consecutive_low >= 18)
{
break;
}
}
systick_counter_disable(); /* 关闭SysTick */
if (cnt_consecutive_low >= 18)
{
return true;
}
return false;
}
#endif
/**
* @brief 时钟反初始化
* @param none
* @return none
*/
void clock_deinit(void)
{
/* Enable internal high-speed oscillator. */
rcc_osc_on(RCC_HSI);
rcc_wait_for_osc_ready(RCC_HSI);
/* Reset the RCC_CFGR register */
RCC_CFGR = 0x000000;
/* Stop the HSE, CSS, PLL, PLLI2S, PLLSAI */
rcc_osc_off(RCC_HSE);
rcc_osc_off(RCC_PLL);
rcc_css_disable();
/* Reset the HSEBYP bit */
rcc_osc_bypass_disable(RCC_HSE);
/* Reset the CIR register */
RCC_CIR = 0x000000;
}
/**
* @brief 读取flash sector大小
* @param sector, 块编号
* @return 0,不存在;!0,sector大小
* @note 此处将page当sector处理
*/
uint32_t flash_func_sector_size(unsigned sector)
{
if (sector < BOARD_FLASH_PAGES)
{
return BOARD_FLASH_PAGE_SIZE;
}
return 0;
}
/**
* @brief 擦除flash sector
* @param sector, 块编号
* @return none
*/
void flash_func_erase_sector(unsigned sector)
{
if(sector > BOARD_FLASH_PAGES || sector < BOOTLOADER_PAGE)
{
return;
}
/* 计算sector的实际物理地址
* flash_func_read_word 已经加上了 APP_LOAD_ADDRESS
*/
uint32_t address = 0;
address = (sector - BOOTLOADER_PAGE) * BOARD_FLASH_PAGE_SIZE ;
bool blank = true;
for (unsigned i = 0; i < BOARD_FLASH_PAGE_SIZE; i += sizeof(uint32_t))
{
if (flash_func_read_word(address + i) != 0xffffffff)
{
blank = false;
break;
}
}
if (!blank)
{
flash_erase_page(APP_LOAD_ADDRESS + address);
}
}
/**
* @brief 写入flash一个字
* @param address 写入地址
* @param word 写入数据
* @return none
*/
void flash_func_write_word(uint32_t address, uint32_t word)
{
flash_program_word(address + APP_LOAD_ADDRESS, word);
}
/**
* @brief 读取flash一个字数据
* @param address 地址
* @return 读出的数据
*/
uint32_t flash_func_read_word(uint32_t address)
{
return *(uint32_t *)(address + APP_LOAD_ADDRESS);
}
/**
* @brief 获取MCU全球唯一ID
* @param 地址
* @return 序列号值
*/
uint32_t flash_func_read_udid(uint32_t address)
{
// read a byte out from unique chip ID area
// it's 12 bytes, or 3 words.
return *(uint32_t *)(address + UDID_START);
}
/**
* @brief 点亮LED
* @param led, led编号
* @return none
*/
void led_on(unsigned led)
{
switch (led)
{
case LED_ACTIVITY:
BOARD_LED_ON(BOARD_PORT_LED_ACTIVITY, BOARD_PIN_LED_ACTIVITY);
break;
case LED_BOOTLOADER:
BOARD_LED_ON(BOARD_PORT_LED_BOOTLOADER, BOARD_PIN_LED_BOOTLOADER);
break;
}
}
/**
* @brief 关闭LED
* @param led, led编号
* @return none
*/
void led_off(unsigned led)
{
switch (led)
{
case LED_ACTIVITY:
BOARD_LED_OFF(BOARD_PORT_LED_ACTIVITY, BOARD_PIN_LED_ACTIVITY);
break;
case LED_BOOTLOADER:
BOARD_LED_OFF(BOARD_PORT_LED_BOOTLOADER, BOARD_PIN_LED_BOOTLOADER);
break;
}
}
/**
* @brief LED反向
* @param led, led编号
* @return none
*/
void led_toggle(unsigned led)
{
switch (led)
{
case LED_ACTIVITY:
gpio_toggle(BOARD_PORT_LED_ACTIVITY, BOARD_PIN_LED_ACTIVITY);
break;
case LED_BOOTLOADER:
gpio_toggle(BOARD_PORT_LED_BOOTLOADER, BOARD_PIN_LED_BOOTLOADER);
break;
}
}
/**
* @brief main函数
* @param none
* @return none
*/
int main(void)
{
/* 默认为启动 APP */
uint8_t try_boot = 1;
/* 如果该值非零则会在此时间后退出 bootloader */
unsigned timeout = BOOTLOADER_DELAY;
/* 板级初始化 */
board_init();
/* 配置时钟 */
clock_init();
/* 如果强制bootloader引脚被触发，则不进行对APP的引导 */
if (board_test_force_pin())
{
try_boot = false;
}
#if INTERFACE_USART
/*
* 通过检测RX上的电平，如果电平持续为低，或接收到打断指令，则不进行boot引导
*/
if (board_test_usart_receiving_break())
{
try_boot = false;
}
#endif
/* 如果没有找到升级请求，则尝试直接启动APP */
if (try_boot)
{
/* 直接尝试 boot */
jump_to_app();
timeout = 0;
}
/* 启动接口 */
#if INTERFACE_USART
cinit(BOARD_INTERFACE_CONFIG_USART, USART);
#endif
#if INTERFACE_USB
cinit(BOARD_INTERFACE_CONFIG_USB, USB);
#endif
while (1)
{
/* 允许bootloader，在升级完成或超时后返回 */
bootloader(timeout);
/* 如果强制bootloader引脚激活，直接重入循环 */
if (board_test_force_pin())
{
continue;
}
#if INTERFACE_USART
/* 如果RX线仍在接收到打断，则重入循环 */
if (board_test_usart_receiving_break())
{
continue;
}
#endif
/* 尝试启动app */
jump_to_app();
/* app 启动失败，永久停留在bootloader */
timeout = 0;
}
}
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